If you're interesting to try out this simulation, you're welcome to download and install the FREE version of Webots from this URL:
http://www.cyberbotics.com/downloadand run this simulation file:
$WEBOTS/projects/robots/darwin-op/worlds/darwin-op.wbt

The robot model contains principally:
- the 20 DOF of the robot
- the leds, the accelerometer, the gyro and the camera
- a realistic physics model (masses, torques, ...)
- a controller being able to read the Robotis motion files

Enjoy!
Fabien Rohrer

Hi all,

I'm glad to announce that Webots 6.4.0 (mobile robotics simulator) contains a model of DARwIn-OP which can read the Robotis motion files.

If you're interesting to try out this simulation, you're welcome to download and install the FREE version of Webots from this URL:
http://www.cyberbotics.com/downloadand run this simulation file:
$WEBOTS/projects/robots/darwin-op/worlds/darwin-op.wbt

The robot model contains principally:
- the 20 DOF of the robot
- the leds, the accelerometer, the gyro and the camera
- a realistic physics model (masses, torques, ...)
- a controller being able to read the Robotis motion files

@limor: We planned to implement the gait generator soon. I keep you in touch through this post.
Fundamentally, everything is already there to do so. The virtual robot can be actuated precisely and the robot software is open source. The question is about wrapping the simulation to and from the real robot. We implemented a first controller reading the motion binaries to prove that this is possible. A second step is to increase the relation Webots-DARwIn-OP. But meanwhile, beginning to program the virtual robot is already possible. Everything helping us to increase this relation is welcome!
Using the Webots tools to generate gaits and finishing their calibration on the real robot is also an alternative which would be simpler to implement than the gait generator.

@limor: We planned to implement the gait generator soon. I keep you in touch through this post.
Fundamentally, everything is already there to do so. The virtual robot can be actuated precisely and the robot software is open source. The question is about wrapping the simulation to and from the real robot. We implemented a first controller reading the motion binaries to prove that this is possible. A second step is to increase the relation Webots-DARwIn-OP. But meanwhile, beginning to program the virtual robot is already possible. Everything helping us to increase this relation is welcome!
Using the Webots tools to generate gaits and finishing their calibration on the real robot is also an alternative which would be simpler to implement than the gait generator.

@MOHIT JINDAL: I'm not sure to understand. Webots simulates robots graphically and physicaly. Several models are available, and can be easily modified. Modifying the size of a component should be easy to reflect on the virtual model. But don't except to have a magical detection of this, or to have a magical adaptation of the controller.

@MOHIT JINDAL: I'm not sure to understand. Webots simulates robots graphically and physicaly. Several models are available, and can be easily modified. Modifying the size of a component should be easy to reflect on the virtual model. But don't except to have a magical detection of this, or to have a magical adaptation of the controller.